From 714e86c96ff93fb78d4340cb607c12927091417b Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 1 May 2005 15:36:43 +0000 Subject: Ajout de e_sat. Ajout de moyenage de d. Ajout d'un print des paramètres. Mesures des robot. Période d'asservissement 1.1 ms. PWM à 14KHz. --- n/asserv/src/main.c | 27 ++++++++++++++++++++++++++- 1 file changed, 26 insertions(+), 1 deletion(-) (limited to 'n/asserv/src/main.c') diff --git a/n/asserv/src/main.c b/n/asserv/src/main.c index fe99acf..e6c2303 100644 --- a/n/asserv/src/main.c +++ b/n/asserv/src/main.c @@ -339,6 +339,11 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { switch (c (args[0], size)) { + case c ('x', 1): + postrack_x = 0; + postrack_y = 0; + postrack_a = 0; + break; case c ('x', 5): /* Set current x position. */ postrack_x = v8_to_v32 (args[1], args[2], args[3], args[4]); @@ -368,8 +373,14 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) case c ('d', 3): speed_kd = v8_to_v16 (args[1], args[2]); break; + case c ('E', 3): + speed_e_sat = v8_to_v16 (args[1], args[2]); + break; case c ('I', 3): - speed_int_max = v8_to_v16 (args[1], args[2]); + speed_int_sat = v8_to_v16 (args[1], args[2]); + break; + case c ('s', 2): + speed_ds = args[1]; break; case c ('a', 2): /* Set acceleration. */ @@ -395,6 +406,20 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) else eeprom_clear_params (); break; + case c ('P', 1): + /* Print current settings. */ + proto_send1b ('E', EEPROM_KEY); + proto_send1w ('f', postrack_footing); + proto_send1b ('a', speed_acc); + proto_send1b ('m', speed_max); + proto_send1w ('p', speed_kp); + proto_send1w ('i', speed_ki); + proto_send1w ('d', speed_kd); + proto_send1w ('E', speed_e_sat); + proto_send1w ('I', speed_int_sat); + proto_send1b ('s', speed_ds); + proto_send1b ('w', pwm_dir); + break; default: proto_send0 ('?'); return; -- cgit v1.2.3